ResearchBenchmarks3D Reconstruction on ICL-NUIM living_roomFollow9.7RMSE (mm)VD6.88825.86944.8563.831Jan 13, 2026Evaluation ResultsMethodMethodLinksRMSE (mm)Volume SumVDCell Size=3x3 pxCell Size=3x3 px2026.019.7615,206VDCell Size=9x9 pxCell Size=9x9 px2026.019.963,605VDCell Size=15x15 pxCell Size=15x15 px2026.0112.527,081OctomapVoxel Size=0.02 mVoxel Size=0.02 m2026.0148.11,015,243OctomapVoxel Size=0.05 mVoxel Size=0.05 m2026.0172.8115,441OctomapVoxel Size=0.1 mVoxel Size=0.1 m2026.018020,967